The shape-memory composite belt with a TiNi-SMA wire fiber and a polyurethane-SMP sheet matrix was fabricated. The bending actuation characteristics of the belt were investigated by the thermomechanical tests. Residual deflection obtained by cooling under constant maximum deflection is close to the maximum deflection. The residual deflection disappears by heating under no load. Both the rates of shape fixity and shape recovery are close to 100%. Recovery force which appears by heating under constant residual deflection is 93-94% of the maximum force. The model of bending-spring constant of the shape-memory composite belt is proposed and evaluated based on the experimental data.